├── .gitignore ├── LICENSE ├── README.md ├── media ├── door_merged.gif ├── grip_merged.gif ├── hit_saved_merged.gif ├── pour_merged.gif └── taco_merged.gif ├── requirements.txt ├── setup.py ├── soft_cloth ├── .gitignore ├── README.md ├── config │ ├── __init__.py │ ├── default_config.py │ ├── demo_hit_config.py │ ├── demo_taco_config.py │ └── utils.py ├── demo_hit.py ├── demo_taco.py ├── engine │ ├── __init__.py │ ├── cloth_simulator.py │ ├── losses │ │ ├── __init__.py │ │ ├── loss_hang.py │ │ ├── loss_hit.py │ │ └── loss_taco.py │ ├── mpm_simulator.py │ ├── nn │ │ └── mlp.py │ ├── primitive │ │ ├── __init__.py │ │ ├── primitive_cloth.py │ │ └── process_faces.py │ ├── renderer │ │ ├── __init__.py │ │ └── renderer.py │ ├── shapes │ │ ├── __init__.py │ │ └── shape_maker.py │ └── taichi_env.py ├── envs │ ├── assets │ │ ├── tortilla │ │ │ ├── generate_circle.py │ │ │ ├── tortilla.obj │ │ │ ├── tortilla2.obj │ │ │ ├── tortilla2_transformed.obj │ │ │ └── tortilla_transformed.obj │ │ └── towel │ │ │ ├── towel.obj │ │ │ ├── towel_flat.obj │ │ │ ├── towel_flat_transformed.obj │ │ │ ├── towel_transformed.obj │ │ │ ├── towel_warp.obj │ │ │ └── towel_warp_transformed.obj │ └── taco │ │ └── taco_mpm_target.npy ├── requirements.txt └── utils.py └── softmac ├── assets ├── bottle │ ├── bottle.obj │ ├── bottle.urdf │ ├── bottle_small.obj │ └── bottle_watertight.obj ├── bowl │ ├── bowl.obj │ ├── bowl.urdf │ ├── bowl_fixed.urdf │ ├── bowl_raw.obj │ ├── bowl_watertight.obj │ └── ef7b066179bbf44aaa44a4e004973b8f1e119fae3ce6c926fb8a209c0bd791e8 ├── door │ ├── build_door_mesh.py │ ├── door.obj │ ├── door.urdf │ └── e7ab3378b317f8d1d4de18fa5bfa4d98e79629e714104b720ebcf0470dfc561a ├── floor │ ├── floor.obj │ └── floor.urdf ├── glass │ ├── b60b5d01cd7e7dfdb5c0f0f9e89d665589f39b16c12a59cf8c76451ab0d67208 │ ├── glass.obj │ ├── glass.urdf │ ├── glass_raw.obj │ ├── glass_small.obj │ └── glass_watertight.obj └── gripper │ ├── 68956732a79bf09d8703ab990a2e2319bf5492c792294e9a86632db03b5ac4d5 │ ├── build_gripper_mesh.py │ ├── cylinder_raw.obj │ ├── f6afb9fcc22f78f3224ae5ce54dfbf866b829265ceb3e3d85ab757b4a8193449 │ ├── finger.obj │ ├── gripper.urdf │ └── palm.obj ├── config ├── __init__.py ├── default_config.py ├── demo_door_config.py ├── demo_grip_config.py ├── demo_pour_config.py ├── demo_pour_vel_config.py └── utils.py ├── demo_door.py ├── demo_grip.py ├── demo_pour.py ├── demo_pour_vel.py ├── engine ├── __init__.py ├── losses │ ├── __init__.py │ ├── loss_door.py │ ├── loss_grip.py │ ├── loss_pour.py │ └── loss_transport.py ├── mpm_simulator.py ├── primitive │ ├── __init__.py │ ├── mesh.py │ ├── primitive_base.py │ ├── primitive_utils.py │ └── primitives.py ├── renderer │ ├── __init__.py │ └── renderer.py ├── rigid_simulator.py ├── rigid_simulator_vel.py ├── shapes │ ├── __init__.py │ └── shape_maker.py └── taichi_env.py ├── envs ├── grip │ ├── grip_mpm_init_state.npy │ └── grip_mpm_target_position.npy └── pour │ ├── pour_mpm_init_state_corotated.npy │ └── pour_mpm_target_position_corotated.npy └── utils.py /.gitignore: -------------------------------------------------------------------------------- 1 | **/__pycache__/ 2 | *.egg-info 3 | softmac/logs/ 4 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/minliu01/SoftMAC/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/minliu01/SoftMAC/HEAD/README.md -------------------------------------------------------------------------------- /media/door_merged.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/minliu01/SoftMAC/HEAD/media/door_merged.gif 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